Based on the geometric characteristics of the Mecanum wheel

the control law of the omni-directional motion mechanism with 4Mecanum wheels is calculated

the variation law of the Mecanum wheel revolving speed is achieved.Then the motion process of the Mecanum wheel is simulated

the Mecanum wheel geometric parameters impact on its angular velocity and angular acceleration are analyzed and the method of improving the design structure of Mecanum wheel to decrease the torque impulse of the driven motor is proposed.According to the size of system expected displacement under setting speed

the motor revolving speed value is calculated by using permanent revolving speed control

the complexity of motor revolving speed control is reduced.Then the conclusion is applied in engineering practice

the theory is proved to be correct and reliable by the experiment data.